Study on Swing-up Control of Rotary Inverted Pendulum Based on Energy Feedback

被引：0

作者：

Zhang, Xinrong ^{[1
]}

Ma, Jie ^{[2
]}

Lin, Lian ^{[1
]}

Wang, Lele ^{[1
]}

机构：

[1] Changan Univ, Key Lab Rd Construct Technol & Equipment MOE, Xian, Shaanxi, Peoples R China

[2] Shaanxi Polytech Engn, Coll Mech Engn, Xian Yang, Peoples R China

来源：

2018 5TH INTERNATIONAL CONFERENCE ON INFORMATION SCIENCE AND CONTROL ENGINEERING (ICISCE 2018) | 2018年

关键词：

Rotary inverted pendulum; swing-up; energy control; CONTROL ALGORITHM; SIMULATION;

D O I：

10.1109/ICISCE.2018.00205

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

To study we control of we rotary inverteu pendulum system, the author in this paper proposed a swing-up method based on energy control. Through analysis the energy of the pendulum rod during the whole swing-up, and introduce the angle of the pendulum as a feedback coefficient to reduce the swing-up time, the author came up with the swing-up control method. Acquire better input with the help of giving different parameters repeatedly using Matlab/Simulink simulation and finish the experimentation finally. The simulation results and the experimental data indicate that the method can drive the pendulum from its hanging-down position to the upright position well. Finally it conclude that this energy method is appropriate for the rotary inverted pendulum system.

引用

页码：994 / 998

页数：5

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